1 files changed, 131 insertions, 0 deletions

diff --git a/lib/chibios/testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c b/lib/chibios/testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c
new file mode 100644
index 000000000..8f0f0373a
--- /dev/null
+++ b/lib/chibios/testex/STM32/STM32F4xx/I2C-LIS3MDL/main.c
@@ -0,0 +1,131 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+#include "ch.h"
+#include "hal.h"
+
+#include "chprintf.h"
+#include "lis3mdl.h"
+
+#define cls(chp)  chprintf(chp, "\033[2J\033[1;1H")
+
+/*===========================================================================*/
+/* LIS3MDL related.                                                           */
+/*===========================================================================*/
+
+/* LIS3MDL Driver: This object represent an LIS3MDL instance.*/
+static LIS3MDLDriver LIS3MDLD1;
+
+static int32_t compraw[LIS3MDL_COMP_NUMBER_OF_AXES];
+
+static float compcooked[LIS3MDL_COMP_NUMBER_OF_AXES];
+
+static char axisID[LIS3MDL_COMP_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+  OPMODE_I2C,
+  400000,
+  FAST_DUTY_CYCLE_2,
+};
+
+static LIS3MDLConfig lis3mdlcfg = {
+  &I2CD1,
+  &i2ccfg,
+  LIS3MDL_SAD_VCC,
+  NULL,
+  NULL,
+  LIS3MDL_COMP_FS_4GA,
+  LIS3MDL_COMP_ODR_40HZ,
+#if LIS3MDL_USE_ADVANCED
+  LIS3MDL_COMP_LP_ENABLED,
+  LIS3MDL_COMP_MD_CONTINUOUS,
+  LIS3MDL_COMP_OMXY_LP,
+  LIS3MDL_COMP_OMZ_LP,
+  LIS3MDL_BDU_CONTINUOUS,
+  LIS3MDL_END_LITTLE
+#endif
+};
+
+/*===========================================================================*/
+/* Generic code.                                                             */
+/*===========================================================================*/
+
+static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
+/*
+ * LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+  (void)arg;
+  chRegSetThreadName("blinker");
+  while (true) {
+    palToggleLine(LINE_LED_GREEN);
+    chThdSleepMilliseconds(500);
+  }
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  halInit();
+  chSysInit();
+
+  /* Configuring I2C SCK and I2C SDA related GPIOs .*/
+  palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
+                 PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
+  palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
+                 PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
+
+  /* Activates the serial driver 1 using the driver default configuration.*/
+  sdStart(&SD2, NULL);
+
+  /* Creates the blinker thread.*/
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
+
+  /* LIS3MDL Object Initialization.*/
+  lis3mdlObjectInit(&LIS3MDLD1);
+
+  /* Activates the LIS3MDL driver.*/
+  lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);
+
+  /* Normal main() thread activity, printing MEMS data on the SD2. */
+  while (true) {
+    lis3mdlCompassReadRaw(&LIS3MDLD1, compraw);
+    chprintf(chp, "LIS3MDL Compass raw data...\r\n");
+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], compraw[i]);
+    }
+
+    lis3mdlCompassReadCooked(&LIS3MDLD1, compcooked);
+    chprintf(chp, "LIS3MDL Compass cooked data...\r\n");
+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], compcooked[i]);
+    }
+    chThdSleepMilliseconds(100);
+    cls(chp);
+  }
+  lis3mdlStop(&LIS3MDLD1);
+}